Machining system, machine tool system, and workpiece machining method

Abstract

The invention provides a machining system, a machine tool system and a workpiece machining method. A machining system includes a robot that carries a workpiece into a machine tool, a robot control device, a numerical control device, and the machine tool. When the weight of the workpiece is defined as a first weight, the robot control device sets workpiece weight data indicating the first weight as one of the control parameters of the robot, and controls the carrying-in operation of the robot on the basis of the control parameters and carrying-in path data determining the carrying-in path of the workpiece. The numerical control device sends workpiece weight data or first basic data for calculating a first weight to the robot control device, and generates an action command by executing a machining program. And the machine tool processes the workpiece into a product based on the action instruction.

Description

Technical Field

[0001] The invention relates to a processing system, a machine tool system and a workpiece processing method. Background Art

[0002] A technique for carrying a workpiece into a machine tool using a robot is known.

[0003] As a related technology, Patent Document 1 discloses a robot and loader control device. The robot and loader control device described in Patent Document 1 includes an action pattern storage unit that pre-stores workpiece motion paths as action patterns, and an action pattern determination unit that determines the action pattern based on determination conditions. The robot and loader control device automatically determines an appropriate action pattern as the workpiece motion path based on workpiece data received from a processing machine, reference position data for the machine tool, robot, and loader, and predetermined determination conditions.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 5-108135 Summary of the Invention

[0005] An object of the present invention is to provide a machining system, a machine tool system, and a workpiece machining method that can reduce the workload of setting workpiece weight data in a robot controller.

[0006] The processing system in some embodiments comprises: a robot, which carries a workpiece into a machine tool; a robot control device, which, when defining the weight of the workpiece as a first weight, sets the workpiece weight data representing the first weight as one of the control parameters of the robot, and controls the robot's carrying-in action based on the control parameters and the carrying-in path data that determines the carrying-in path of the workpiece; a numerical control device, which sends the workpiece weight data or the first basic data for calculating the first weight to the robot control device, and generates an action instruction by executing a processing program; and the machine tool, which processes the workpiece into a product based on the action instruction.

[0007] The machine tool system in some embodiments comprises: a machine tool that receives a workpiece from a robot controlled by a robot control device and processes the workpiece into a product based on an action instruction received from a numerical control device; and the numerical control device, when defining the weight of the workpiece as a first weight, sends the workpiece weight data or first basic data for calculating the first weight to the robot control device in order to set the workpiece weight data representing the first weight as one of the control parameters of the robot, and generates the action instruction by executing a processing program.

[0008] The workpiece processing method in some embodiments comprises: a process in which at least one of a robot control device, a numerical control device, a simulation device and a CAD / CAM system calculates the volume of the workpiece based on the shape data of the workpiece; a process in which at least one of the robot control device, the numerical control device, the simulation device and the CAD / CAM system calculates the weight of the workpiece based on the calculated volume of the workpiece and workpiece density data representing the density of the material constituting the workpiece; a process in which the robot control device sets the calculated weight of the workpiece as one of the control parameters of the robot; a process in which the robot control device generates a carry-in action instruction based on the control parameters and carry-in path data; a process in which the robot that receives the carry-in action instruction carries the workpiece into a machine tool; a process in which the numerical control device generates an action instruction by executing a processing program associated with the workpiece; and a process in which the machine tool that receives the action instruction processes the workpiece into a product.

[0009] According to the present invention, it is possible to provide a machining system, a machine tool system, and a workpiece machining method that can reduce the workload of setting workpiece weight data in a robot controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a diagram schematically showing the processing system in the first embodiment. Figure 2 It is a diagram schematically showing the processing system in the first embodiment. Figure 3 This is a diagram showing an example of control parameters. Figure 4 This is a diagram schematically showing how workpiece weight data is transmitted from a numerical control device to a robot controller. Figure 5 This is a diagram schematically showing a state in which first basic data for calculating the weight of a workpiece is transmitted from a numerical control device to a robot controller. Figure 6 This is a diagram schematically showing a state in which a numerical control device can control a control target device. Figure 7 It is a diagram schematically showing the processing system in the first embodiment. Figure 8 It is a diagram schematically showing the processing system in the first embodiment. Figure 9 This is a diagram showing an example of control parameters. Figure 10 This is a diagram showing an example of control parameters. Figure 11 This is a diagram schematically showing how product weight data is transmitted from a numerical control device to a robot control device. Figure 12 This is a diagram schematically showing how second basic data for calculating the weight of a product is transmitted from a numerical control device to a robot control device. Figure 13 It is a diagram schematically showing the processing system in the first embodiment. Figure 14 This is a diagram showing an example of control parameters. Figure 15 This is a diagram showing an example of control parameters. Figure 16 This is a diagram schematically showing a state in which a numerical control device can communicate with a robot control device. Figure 17 This is a diagram schematically showing how a robot control device can control a robot. Figure 18 This is a diagram schematically showing an example of a numerical control device. Figure 19 This is a diagram schematically showing an example of a numerical control device. Figure 20 This is a diagram schematically showing a situation in which a numerical control device can receive data from a simulation device. Figure 21 This is a diagram schematically showing an example of a simulation device. Figure 22 This is a diagram schematically showing a situation in which a numerical control device can receive data from a simulation device. Figure 23 This is a diagram schematically showing a situation in which a numerical control device can receive data from a simulation device. Figure 24 This is a diagram schematically showing a situation in which a numerical control device can receive data from a CAD / CAM system. Figure 25 This is a diagram schematically showing an example of a CAD / CAM system. Figure 26 This is a diagram schematically showing an example of a procedure for deriving workpiece weight data by a numerical control device. Figure 27 This is a table schematically showing association data associating a plurality of materials with the densities of the plurality of materials. Figure 28 It is a diagram schematically showing a state in which shape data of a workpiece is input. Figure 29 It is a diagram schematically showing a state in which data for generating a machining program is input. Figure 30 It is a diagram schematically showing a state in which data for generating a machining program is input. Figure 31This is a diagram schematically showing an example of a procedure for deriving product weight data by a numerical control device. Figure 32 This is a diagram schematically showing an example of a CAD / CAM system. Figure 33 This is a diagram schematically showing an example of a numerical control device. Figure 34 This is a diagram schematically showing an example of a numerical control device. Figure 35 This is a diagram schematically showing a case where a machine tool includes a workpiece support device and a second workpiece support device. Figure 36 It is a diagram schematically showing a machine tool system in a second embodiment. Figure 37 This diagram schematically shows how a numerical control device can control a device to be controlled. Figure 38 This is a flowchart showing an example of a workpiece processing method in the third embodiment. Figure 39 This is a flowchart showing an example of a workpiece processing method in the third embodiment. DETAILED DESCRIPTION

[0011] Hereinafter, a machining system 100, a machine tool system 1, and a workpiece machining method according to an embodiment will be described with reference to the accompanying drawings. In the following description of the embodiment, portions and components having the same functions are denoted by the same reference numerals, and repeated descriptions of portions and components denoted by the same reference numerals will be omitted.

[0012] (Definition of terms) In this specification, the weight of the workpiece E is defined as a first weight w1 , the volume of the workpiece E is defined as a first volume v1 , and the density of the material constituting the workpiece E (in other words, the weight per unit volume of the material constituting the workpiece E) is defined as a first density d1 .

[0013] In this specification, the product P includes all objects formed by processing by the machine tool 6. The product P is not limited to a final product. The product P may also be a semi-finished product.

[0014] In this specification, the weight of the product P is defined as the second weight w2, the volume of the product P is defined as the second volume v2, and the density of the material constituting the product P (in other words, the weight per unit volume of the material constituting the product P) is defined as the second density d2. The second density d2 is typically the same as the first density d1. However, in cases where the machining performed by the machine tool 6 involves adding new material to the workpiece E, for example, the second density d2 may differ from the first density d1.

[0015] (First embodiment) Reference Figures 1 to 35 The processing system 100 in the first embodiment will be described. Figure 1 and Figure 2 It is a diagram schematically showing the processing system 100 in the first embodiment. Figure 3 This is a diagram showing an example of the control parameter Q. Figure 4 1 is a diagram schematically showing a state in which workpiece weight data W1 is transmitted from the numerical control device 5 to the robot controller 3 . Figure 5 1 is a diagram schematically showing a state in which first basic data A1 for calculating the weight of a workpiece is transmitted from the numerical control device 5 to the robot controller 3 . Figure 6 This is a diagram schematically showing a state in which the numerical control device 5 can control a control target device. Figure 7 and Figure 8 It is a diagram schematically showing the processing system 100 in the first embodiment. Figure 9 and Figure 10 This is a diagram showing an example of the control parameter Q. Figure 11 1 is a diagram schematically showing a state in which product weight data W2 is transmitted from the numerical control device 5 to the robot control device 3 . Figure 12 1 is a diagram schematically showing a state in which second basic data A2 for calculating the weight of a product is transmitted from the numerical control device 5 to the robot control device 3 . Figure 13 It is a diagram schematically showing the processing system 100 in the first embodiment. Figure 14 and Figure 15 This is a diagram showing an example of the control parameter Q. Figure 16 This is a diagram schematically showing a state in which the numerical control device 5 can communicate with the robot control device 3 . Figure 17 Schematically shows how the robot control device 3 can control the robot 2 . Figure 18 and Figure 19 It is a diagram schematically showing an example of the numerical control device 5 . Figure 20 This is a diagram schematically showing a situation in which the numerical control device 5 can receive data from the simulation device 8 . Figure 21 It is a diagram schematically showing an example of the simulation device 8 . Figure 22 and Figure 23 This is a diagram schematically showing a situation in which the numerical control device 5 can receive data from the simulation device 8 . Figure 24 This is a diagram schematically showing a state in which the numerical control device 5 can receive data from the CAD / CAM system 9 . Figure 25 It is a diagram schematically showing an example of the CAD / CAM system 9 . Figure 26 This is a diagram schematically showing an example of a procedure for deriving the workpiece weight data W1 by the numerical control device 5 . Figure 27 This is a table schematically showing association data r1 that associates a plurality of materials with the densities of the plurality of materials. Figure 28 It is a diagram schematically showing a state in which shape data SD of a workpiece is input. Figure 29 It is a diagram schematically showing a state in which data for generating a machining program is input. Figure 30 It is a diagram schematically showing a state in which data for generating a machining program is input. Figure 31 This is a diagram schematically showing an example of a procedure for deriving the product weight data W2 by the numerical control device 5 . Figure 32 It is a diagram schematically showing an example of the CAD / CAM system 9 . Figure 33 and Figure 34 It is a diagram schematically showing an example of the numerical control device 5 . Figure 35 This is a diagram schematically showing a case where the machine tool 6 includes a workpiece support device 62 and a second workpiece support device 65 .

[0016] like Figure 1 As illustrated, the machining system 100 in the first embodiment includes a robot 2 , a robot controller 3 , a numerical control device 5 , and a machine tool 6 .

[0017] exist Figure 1 In the example described, machine tool 6 includes a machining head 61 (e.g., a turret 61T) that holds a tool T, a workpiece support 62 that supports a workpiece, and a moving device 63 that moves machining head 61 relative to workpiece support 62. Machine tool 6 may also include a wall 67 having an opening OP through which a workpiece E and / or product can pass; a door 68 that opens and closes opening OP; and a door moving device 69 that moves door 68.

[0018] like Figure 2 As illustrated, the robot 2 carries the workpiece E into the machine tool 6 . More specifically, the robot 2 carries the workpiece E into the machine tool 6 through the opening OP. The robot 2 may also deliver the workpiece E to the workpiece support device 62 .

[0019] exist Figure 2 In the example described, the robot 2 includes a plurality of arms 21 including a front arm 21e, and a gripping body 23 (eg, a manipulator 230) for gripping a workpiece E. Figure 2 In the described example, the grip body 23 is attached to the front end arm 21e.

[0020] exist Figure 2 In the example described, robot 2 includes a second gripper 24 (e.g., second manipulator 240). Second gripper 24 is attached to front arm 21e. Robot 2 may include one, two, or three or more grippers. In other words, robot 2 may omit second gripper 24, and may include other grippers in addition to gripper 23 and second gripper 24.

[0021] The robot control device 3 sets the workpiece weight data W1 indicating the weight of the workpiece E (in other words, the first weight w1) as one of the control parameters Q of the robot 2. The control parameter Q includes, for example, the workpiece weight data W1 and the weight data of each structure attached to the front arm 21e. Figure 3 In the example described, the robot control device 3 sets the workpiece weight data W1 as one control parameter Q of the robot 2, sets the weight data 23w of the gripping body 23 (e.g., the weight data of the manipulator 230) as another control parameter Q of the robot 2, and sets the weight data 24w of the second gripping body 24 (e.g., the weight data of the second manipulator 240) as yet another control parameter Q of the robot 2. The number of data items included in the control parameter Q varies depending on, for example, the number of structures attached to the front arm 21e.

[0022] When the holding body 23 holds the workpiece E (more specifically, at any time from before the holding body 23 is about to start the holding action of holding the workpiece E to just after the holding body 23 completes the holding action of holding the workpiece E), the robot control device 3 switches the state of the workpiece weight data W1, which is one of the control parameters Q, from an inactive state to an active state. In this way, the workpiece weight data W1 is reflected in the control parameter Q. The robot control device 3 controls the carrying action of the robot 2 based on the control parameter Q (more specifically, the control parameter Q that activates the state of the workpiece weight data W1) and the carrying path data 326 that determines the carrying path of the workpiece E. Figure 4 、 Figure 5 In the described example, both the control parameter Q and the carry-in path data 326 are stored in the memory of the robot controller 3 .

[0023] exist Figure 4 In the example described, the numerical control device 5 transmits workpiece weight data W1 indicating a first weight w1 to the robot control device 3 . The robot control device 3 also sets the workpiece weight data W1 received from the numerical control device 5 as one of the control parameters Q of the robot 2 .

[0024] Alternatively, if Figure 5 As illustrated, the numerical control device 5 may also transmit first basic data A1 for calculating the weight of the workpiece E (in other words, first weight w1) to the robot controller 3. The first basic data A1 includes, for example, workpiece volume data V1 indicating the volume of the workpiece E. The first basic data A1 may also include workpiece volume data V1 and workpiece density data D1 indicating the density of the material constituting the workpiece E.

[0025] exist Figure 5In the example described, the robot controller 3 derives workpiece weight data W1 based on at least the first basic data A1 and sets the derived workpiece weight data W1 as one of the control parameters Q. More specifically, the robot controller 3 derives the workpiece weight data W1 based on the workpiece volume data V1 and the workpiece density data D1. Furthermore, the robot controller 3 sets the derived workpiece weight data W1 as one of the control parameters Q.

[0026] exist Figure 6 In the described example, the numerical control device 5 generates the motion command C by executing the machining program PM associated with the workpiece E. The machine tool 6 machines the workpiece E into a product based on the motion command C.

[0027] In this specification, "the numerical control device 5 executing the machining program PM" includes the numerical control device 5 executing the machining program PM via the machining operation program 529. In other words, the numerical control device 5 may process (or, in other words, interpret) the machining program PM by executing the machining operation program 529. Based on this processing (or, in other words, interpretation), the numerical control device 5 generates motion commands C to be transmitted to each of the plurality of controlled devices of the machine tool 6.

[0028] In the machining system 100 of the first embodiment, the workpiece weight data W1 is reflected in the control parameter Q of the robot 2. Consequently, the robot controller 3 can more accurately control the position of the workpiece E. For example, the robot controller 3 can control the movement of the arm 21 by taking into account the tilt of the arm 21 caused by the weight of the workpiece E. Furthermore, since the control parameter Q is more appropriately set, false detection of collisions between the robot 2 and other objects while loading the workpiece E is less likely to occur.

[0029] Furthermore, in the machining system 100 of the first embodiment, workpiece weight data W1 or first basic data A1 for calculating the weight of the workpiece E is transmitted from the numerical control device 5 to the robot controller 3. Therefore, the operator does not need to manually input the weight of the workpiece E into the robot controller 3. For example, the operator does not need to manually input the weight of the workpiece E into the robot controller 3 each time the type of workpiece E is changed. This reduces the operator's workload.

[0030] (arbitrary additional structure) Next, refer to Figures 1 to 35 An optional additional configuration that can be adopted in the processing system 100 of the first embodiment will be described.

[0031] (Removal of Product P) exist Figure 8In the example described, the robot 2 can carry the product P out of the machine tool 6. More specifically, the robot 2 can receive the product P from the workpiece support device 62. Furthermore, the robot 2 can carry the product P out of the machine tool 6 through the opening OP.

[0032] exist Figure 9 In the example described, the robot control device 3 sets the product weight data W2 indicating the weight of the product P (in other words, the second weight w2) as one of the control parameters Q of the robot 2. The control parameter Q includes, for example, the product weight data W2 and the weight data of each structure attached to the front arm 21e. Figure 9 In the example described, the robot control device 3 sets product weight data W2 as one control parameter Q of the robot 2, sets weight data 23w of the gripping body 23 (e.g., weight data of the manipulator 230) as another control parameter Q of the robot 2, and sets weight data 24w of the second gripping body 24 (e.g., weight data of the second manipulator 240) as yet another control parameter Q of the robot 2. The number of data items included in the control parameter Q varies depending on, for example, the number of structures attached to the front arm 21e.

[0033] When the holding body 23 holds the product P (more specifically, at any time from before the holding body 23 starts holding the product P to just after the holding body 23 completes holding the product P), the robot control device 3 changes the state of the product weight data W2, which is one of the control parameters Q, from the inactive state (refer to Figure 9 ) is switched to active state (refer to Figure 10 ). In this way, the product weight data W2 is reflected in the control parameter Q. In this specification, the state of data being active means that the data is reflected in the control parameter Q. In this specification, the state of data being inactive means that the data is not reflected in the control parameter Q.

[0034] The robot control device 3 controls the unloading operation of the robot 2 based on the control parameter Q including the product weight data W2 (more specifically, the control parameter Q in the state in which the product weight data W2 is activated) and the unloading path data 327 that determines the unloading path of the product P. Figure 11 In the described example, both the control parameter Q and the carry-out path data 327 are stored in the memory of the robot controller 3 .

[0035] like Figure 13 As illustrated, the robot 2 may also be able to carry out loading of the workpiece E into the machine tool 6 and unloading of the product P from the machine tool 6 in parallel. Figure 13 In the example described, the gripping body 23 can grip the product P while the second gripping body 24 grips the workpiece E.

[0036] In this case, if Figure 14 As illustrated, the robot control device 3 sets the workpiece weight data W1 and the product weight data W2 as one of the control parameters Q. Furthermore, when the robot 2 supports both the workpiece E and the product P, the robot control device 3 controls the movement of the robot 2 based on the control parameter Q reflecting both the workpiece weight data W1 and the product weight data W2 (in other words, the control parameter Q that activates both the workpiece weight data W1 and the product weight data W2) and the carry-in path data 326 or the carry-out path data 327.

[0037] For example, when the robot 2 receives the workpiece E, the robot control device 3 activates the workpiece weight data W1. In addition, the robot control device 3 is based on the control parameter Q (refer to Figure 15 ), and the loading path data 326, controls the loading operation of the robot 2. Thereafter, when the robot 2 supporting the workpiece E receives the product P, the robot control device 3 activates the product weight data W2. In addition, the robot control device 3 is based on the control parameter Q (see Figure 14 ), and the carry-in path data 326 or the carry-out path data 327, and controls the operation of the robot 2. Then, when the robot 2 transfers the workpiece E to the workpiece support device 62, the robot control device 3 deactivates the workpiece weight data W1. In addition, the robot control device 3 is based on the control parameter Q (refer to the state in which the workpiece weight data W1 is deactivated and the product weight data W2 is activated) Figure 10 ), and the carry-out path data 327, control the carry-out action of the robot 2.

[0038] exist Figure 11 In the example described, the numerical control device 5 transmits product weight data W2 indicating the second weight w2 to the robot control device 3. The robot control device 3 sets the product weight data W2 obtained from the numerical control device 5 as one of the control parameters Q of the robot 2.

[0039] Alternatively, if Figure 12 As illustrated, the numerical control device 5 may also transmit second basic data A2 for calculating the weight of the product P (in other words, the second weight w2) to the robot control device 3. The second basic data A2 includes, for example, product volume data V2 indicating the volume of the product P. The second basic data A2 may also include product volume data V2 and product density data D2 indicating the density of the material constituting the product P. The product density data D2 is typically the same as the workpiece density data D1.

[0040] exist Figure 12In the example described, the robot controller 3 derives product weight data W2 based on at least the second basic data A2 and sets the derived product weight data W2 as one of the control parameters Q. More specifically, the robot controller 3 derives the product weight data W2 based on the product volume data V2 and the product density data D2. Furthermore, the robot controller 3 sets the derived product weight data W2 as one of the control parameters Q.

[0041] exist Figure 11 、 Figure 12 In the example described, the product weight data W2 is reflected in the control parameter Q of the robot 2. This allows the robot control device 3 to more accurately control the position of the product P. For example, the robot control device 3 can control the movement of the arm 21 by taking into account the tilt of the arm 21 caused by the weight of the product P. Furthermore, by more appropriately setting the control parameter Q, it is less likely to cause false detections when the robot 2 is unloading a product P and is in collision with another object.

[0042] Furthermore, in Figure 11 、 Figure 12 In the example described above, product weight data W2 or second basic data A2 used to calculate the weight of product P is transmitted from the numerical control device 5 to the robot control device 3. Therefore, the operator does not need to manually input the weight of product P into the robot control device 3. For example, the operator does not need to manually input the weight of the new product P into the robot control device 3 each time the type of product P is changed. This reduces the operator's workload.

[0043] (CNC device 5) A single computer may function as the numerical control device 5, or a plurality of computers may cooperate to function as the numerical control device 5. Figure 16 As shown in the example, the numerical control device 5 includes a hardware processor 50 (hereinafter referred to as "processor 50"), a memory 52, a communication circuit 55, an input device 56, and a display 57. Figure 16 In the example described, the processor 50, the memory 52, the communication circuit 55, the input device 56, and the display 57 are connected to each other via a bus 58. Figure 16 In the example described, the display 57 is a display 572 with a touch panel that also functions as the input device 56 .

[0044] The memory 52 is a storage medium readable by the processor 50 of the numerical control device 5. The memory 52 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or a magnetic disk or other form of memory. The memory 52 stores data and programs. The memory 52 may also be distributed across multiple locations.

[0045] like Figure 6 As shown in the example, the communication circuit 55 sends an operation command C to the control target devices of the machine tool 6 (such as the machining head 61, the workpiece support device 62, the moving device 63, and the door moving device 69). Figure 4 、 Figure 5 As illustrated, the communication circuit 55 transmits workpiece weight data W1 or first basic data A1 for calculating the weight of the workpiece E to the robot controller 3. Figure 4 、 Figure 5 In the example described, the communication circuit 55a for transmitting motion commands to the controlled device of the machine tool 6 and the communication circuit 55b for transmitting data to the robot controller 3 are separate circuits. Alternatively, the communication circuit 55a for transmitting motion commands to the controlled device of the machine tool 6 and the communication circuit 55b for transmitting data to the robot controller 3 may be the same circuit. Furthermore, data transmission and reception between the robot controller 3 and the numerical control device 5 may be performed via a bus.

[0046] The input device 56 is not limited to the touch panel display 572. For example, the numerical control device 5 may include input devices such as buttons, switches, joysticks, pointing devices, and keyboards, and a display that displays data or other information input to the input devices.

[0047] (Robot control device 3) A single computer may function as the robot control device 3, or a plurality of computers may cooperate to function as the robot control device 3. Figure 16 As illustrated, the robot control device 3 includes a processor (hereinafter referred to as the "second processor 30" to distinguish it from the processor 50 of the numerical control device 5), a memory (hereinafter referred to as the "second memory 32" to distinguish it from the memory 52 of the numerical control device 5), a communication circuit (hereinafter referred to as the "second communication circuit 35" to distinguish it from the communication circuit 55 of the numerical control device 5), an input device (hereinafter referred to as the "second input device 36" to distinguish it from the input device 56 of the numerical control device 5), and a display (hereinafter referred to as the "second display 37" to distinguish it from the display 57 of the numerical control device 5). Figure 16 In the described example, the second processor 30 , the second memory 32 , the second communication circuit 35 , the second input device 36 , and the second display 37 are connected to each other via a bus (hereinafter referred to as “second bus 38 ” to distinguish it from the bus 58 of the numerical control device 5 ).

[0048] The second memory 32 is a storage medium readable by the second processor 30. The second memory 32 can be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or a magnetic disk or other form of memory. The second memory 32 stores data and programs. The second memory 32 can also be distributed across multiple locations.

[0049] like Figure 17 As shown in the example, the second communication circuit 35 sends a conveying operation instruction J to the robot 2. Figure 4 、 Figure 5 As shown in the example, the second communication circuit 35 receives data such as the workpiece weight data W1 or the first basic data A1 for calculating the weight of the workpiece E from the numerical control device 5. Figure 4 、 Figure 5 In the example described, the second communication circuit 35a for receiving data from the numerical control device 5 and the second communication circuit 35b for sending conveying motion commands to the robot 2 are separate circuits. Alternatively, the second communication circuit 35a for receiving data from the numerical control device 5 and the second communication circuit 35b for sending conveying motion commands to the robot 2 may be the same circuit.

[0050] The second input device 36 is, for example, a display with a touch panel, buttons, switches, a joystick, a pointing device, a keyboard, or the like.

[0051] (Processing simulation) like Figure 18 As illustrated, the numerical control device 5 may be capable of executing a machining simulation for virtually machining the workpiece E. The workpiece E is virtually machined by the numerical control device 5 executing the machining simulation.

[0052] exist Figure 18 In the example described, the numerical control device 5 performs a machining simulation by virtually executing the machining program PM stored in the memory 52. Furthermore, in this specification, the numerical control device 5 virtually executing the machining program PM includes the numerical control device 5 executing the machining program PM using the second computation program PG2. In other words, the numerical control device 5 may process (or, in other words, interpret) the machining program PM by executing the second computation program PG2. Based on this processing (or, in other words, interpretation), the numerical control device 5 virtually operates the multiple controlled devices of the machine tool 6 on the display 57.

[0053] exist Figure 18 In the example described, the numerical control device 5 generates three-dimensional shape data SH1 of the workpiece E by virtually executing the machining program PM. In addition, the numerical control device 5 moves the tool T (for example, the cutting tool T1) relative to the workpiece E on the display 57 by virtually executing the machining program PM. Figure 19In the described example, the numerical control device 5 generates the three-dimensional shape data SH2 of the product P by virtually executing the machining program PM.

[0054] Alternatively, if Figure 20 As illustrated, the numerical control device 5 in the first embodiment may be configured to be communicable with the simulation device 8 , and the simulation device 8 may be provided separately from the numerical control device 5 .

[0055] exist Figure 21 In the example described, the simulation device 8 includes a third processor 80, a third memory 82, a third communication circuit 85, a third input device 86, and a third display 87. The third memory 82 is a storage medium readable by the third processor 80.

[0056] like Figure 22 As illustrated, the simulation device 8 can execute a machining simulation for virtually machining the workpiece E. By executing the machining simulation by the simulation device 8, the workpiece E is virtually machined.

[0057] exist Figure 21 In the example described, the simulation device 8 performs a machining simulation by virtually executing the machining program PM stored in the third memory 82. Furthermore, in this specification, the simulation device 8 virtually executing the machining program PM includes the simulation device 8 executing the machining program PM using the second computing program PG2. In other words, the simulation device 8 may process (or interpret) the machining program PM by executing the second computing program PG2. Based on this processing (or interpretation), the simulation device 8 virtually operates the multiple controlled devices of the machine tool 6 on the third display 87.

[0058] exist Figure 21 In the example described, the simulation device 8 generates three-dimensional shape data SH1 of the workpiece E by virtually executing the machining program PM. In addition, the simulation device 8 moves the tool T (for example, the cutting tool T1) relative to the workpiece E on the display 57 by virtually executing the machining program PM. Figure 23 In the described example, the simulation device 8 generates the three-dimensional shape data SH2 of the product P by virtually executing the machining program PM.

[0059] (CAD / CAM system 9) like Figure 24 As illustrated, the numerical control device 5 may also be configured to communicate with a CAD / CAM system 9. In this specification, a "CAD / CAM system" refers to a system that is separate from the numerical control device 5 and generates workpiece shape data and NC data with the assistance of a computer. Additionally, the CAD / CAM system 9 may also generate product shape data.

[0060] exist Figure 25 In the example described, the CAD / CAM system 9 includes a fourth processor 90, a fourth memory 92, a fourth communication circuit 95, a fourth input device 96, and a fourth display 97. The fourth memory 92 is a storage medium readable by the fourth processor 90.

[0061] (Calculation of the first weight w1) The weight of the workpiece E (in other words, the first weight w1) can be calculated by the robot controller 3, the numerical control device 5, or any computer capable of communicating with the numerical control device 5 (e.g., the simulator 8 or the CAD / CAM system 9). The first weight w1 is calculated based on the volume of the workpiece E (in other words, the first volume v1) and the density of the material constituting the workpiece E (in other words, the first density d1). More specifically, the first weight w1 is calculated by multiplying the first volume v1 by the first density d1. If the material constituting the workpiece E includes a first material and a second material, the first weight w1 is calculated based on the volume of the portion consisting of the first material, the density of the first material, the volume of the portion consisting of the second material, and the density of the second material.

[0062] (When the robot controller 3 calculates the first weight w1) like Figure 5 As illustrated, when the robot controller 3 calculates the first weight w1 , the robot controller 3 receives the first basic data A1 for calculating the first weight w1 from the numerical control device 5 .

[0063] The first basic data A1 received by the robot controller 3 from the numerical control device 5 may also include workpiece volume data V1 indicating the first volume v1. In this case, the robot controller 3 calculates the first weight w1 based on the workpiece volume data V1 received from the numerical control device 5 and the workpiece density data D1 stored in the second memory 32.

[0064] The first basic data A1 received by the robot controller 3 from the numerical control device 5 may also include workpiece volume data V1 and workpiece density data D1. In this case, the robot controller 3 calculates the first weight w1 based on the workpiece volume data V1 and workpiece density data D1 received from the numerical control device 5.

[0065] The first basic data A1 received by the robot controller 3 from the numerical control device 5 may also include shape data of the workpiece E. In this case, the robot controller 3 derives the workpiece volume data V1 based on the shape data of the workpiece E. Furthermore, the robot controller 3 calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0066] (When the numerical control device 5 calculates the first weight w1) like Figure 4 As illustrated, when the numerical control device 5 calculates the first weight w1, it calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. Furthermore, the numerical control device 5 transmits the workpiece weight data W1 indicating the first weight w1 to the robot controller 3.

[0067] (When the calculation of the first weight w1 is performed by any computer other than the numerical control device 5 and the robot control device 3) If the first weight w1 is calculated by any computer other than the numerical control device 5 and the robot controller 3 (e.g., the simulator 8 or the CAD / CAM system 9), the computer (e.g., the simulator 8 or the CAD / CAM system 9) calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. The numerical control device 5 receives the workpiece weight data W1 indicating the first weight w1 from the computer (e.g., the simulator 8 or the CAD / CAM system 9). Furthermore, the numerical control device 5 transmits the workpiece weight data W1 indicating the first weight w1 to the robot controller 3.

[0068] (Calculation of the second weight w2) The weight of the product P (in other words, the second weight w2) can be calculated by the robot controller 3, the numerical control device 5, or any computer capable of communicating with the numerical control device 5 (e.g., the simulator 8 or the CAD / CAM system 9). The second weight w2 is calculated based on the volume of the product P (in other words, the second volume v2) and the density of the material constituting the product P (in other words, the second density d2). More specifically, the second weight w2 is obtained by multiplying the second volume v2 by the second density d2. The second density d2 is typically the same as the first density d1 (in other words, the density of the material constituting the workpiece E). If the material constituting the product P includes a first material and a second material, the second weight w2 is calculated based on the volume of the portion consisting of the first material, the density of the first material, the volume of the portion consisting of the second material, and the density of the second material.

[0069] (When the robot controller 3 calculates the second weight w2) like Figure 12 As illustrated, when the robot controller 3 calculates the second weight w2 , the robot controller 3 receives the second basic data A2 for calculating the second weight w2 from the numerical control device 5 .

[0070] The second basic data A2 received by the robot controller 3 from the numerical control device 5 may also include product volume data V2. In this case, the robot controller 3 calculates the second weight w2 based on the product volume data V2 received from the numerical control device 5 and the product density data D2 stored in the second memory 32. The product density data D2 is typically the same as the workpiece density data D1.

[0071] The second basic data A2 received by the robot controller 3 from the numerical control device 5 may also include product volume data V2 and product density data D2. In this case, the robot controller 3 calculates the second weight w2 based on the product volume data V2 and the product density data D2 received from the numerical control device 5.

[0072] The second basic data A2 received by the robot controller 3 from the numerical control device 5 may also include shape data of the product P. In this case, the robot controller 3 derives product volume data V2 based on the shape data of the product P. Furthermore, the robot controller 3 calculates a second weight w2 based on the product volume data V2 and the product density data D2.

[0073] (When the numerical control device 5 calculates the second weight w2) like Figure 11 As illustrated, when the numerical control device 5 calculates the second weight w2, it calculates the second weight w2 based on the product volume data V2 and the product density data D2. Furthermore, the numerical control device 5 transmits the product weight data W2 indicating the second weight w2 to the robot control device 3. The product density data D2 is typically the same as the workpiece density data D1.

[0074] (When the calculation of the second weight w2 is performed by any computer other than the numerical control device 5 and the robot control device 3) If the second weight w2 is calculated by any computer other than the numerical control device 5 and the robot controller 3 (e.g., the simulator 8 or the CAD / CAM system 9), the computer (e.g., the simulator 8 or the CAD / CAM system 9) calculates the second weight w2 based on the product volume data V2 and the product density data D2. The numerical control device 5 receives product weight data W2 indicating the second weight w2 from the computer (e.g., the simulator 8 or the CAD / CAM system 9). Furthermore, the numerical control device 5 transmits the product weight data W2 indicating the second weight w2 to the robot controller 3.

[0075] (First calculation mode M1) exist Figure 4In the described example, the numerical control device 5 can execute the first calculation mode M1 for calculating the first weight w1 based on the workpiece volume data V1 indicating the first volume v1 and the workpiece density data D1 indicating the first density d1.

[0076] exist Figure 4 In the example described above, the memory 52 stores the workpiece volume data V1 and the workpiece density data D1. In addition, the memory 52 stores the calculation program PG executed by the processor 50. Figure 4 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes a calculation program PG to calculate a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. More specifically, the processor 50 executing the calculation program PG calculates the first weight w1 by multiplying the first volume v1 by the first density d1. The calculated first weight w1 is stored in the memory 52 as workpiece weight data W1.

[0077] exist Figure 26 In the example described, the memory 52 stores workpiece volume data V1, and association data r1 (see Figure 27 ), and data m1 that determines the material constituting the workpiece E. Figure 28 As illustrated, the numerical control device 5 may also obtain data m1 specifying the material constituting the workpiece E via the input device 56. In other words, the operator may input the data m1 specifying the material constituting the workpiece E into the numerical control device 5 via the input device 56. Alternatively, the numerical control device 5 may obtain the data m1 specifying the material constituting the workpiece E from another computer.

[0078] exist Figure 26 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes a calculation program PG to derive the density of the material constituting the workpiece E (in other words, a first density d1) based on data m1 identifying the material constituting the workpiece E and association data r1 associating multiple materials with their densities. The derived first density d1 is stored in the memory 52 as workpiece density data D1. Furthermore, the numerical control device 5 (more specifically, the processor 50 ) executes the calculation program PG to calculate a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. More specifically, the processor 50 executing the calculation program PG calculates the first weight w1 by multiplying the first volume v1 by the first density d1. The calculated first weight w1 is stored in the memory 52 as workpiece weight data W1.

[0079] When the numerical control device 5 can execute the first calculation mode M1 for calculating the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1 , the operator is not burdened with the task of measuring the weight of the workpiece E.

[0080] exist Figure 4 、 Figure 26 In the description of "(First Calculation Mode M1)", an example is described in which the numerical control device 5 calculates the first weight w1 by executing the calculation program PG by the processor 50 of the numerical control device 5. Alternatively, the robot control device 3, the simulator 8, or the CAD / CAM system 9 may calculate the first weight w1 by executing the calculation program PG by the second processor 30 of the robot control device 3, the third processor 80 of the simulator 8, or the fourth processor 90 of the CAD / CAM system 9. In other words, in the description of "(First Calculation Mode M1)", the "numerical control device 5", "processor 50", "memory 52", and "input device 56" may be replaced with "robot control device 3", "second processor 30", "second memory 32", and "second input device 36", respectively. Furthermore, in the description of "(First Calculation Mode M1)", the "numerical control device 5", "processor 50", "memory 52", and "input device 56" may be replaced with "simulator 8", "third processor 80", "third memory 82", and "third input device 86", respectively. In addition, in the description of “(first computing mode M1)”, “CNC device 5”, “processor 50”, “memory 52” and “input device 56” can be replaced by “CAD / CAM system 9”, “fourth processor 90”, “fourth memory 92” and “fourth input device 96” respectively.

[0081] (Second calculation mode M2) exist Figure 4 In the described example, the numerical control device 5 can execute the second calculation mode M2 for calculating the first volume v1 based on the shape data SD of the workpiece used to generate the machining program PM.

[0082] like Figure 28 As illustrated, the numerical control device 5 may also obtain the shape data SD of the workpiece E used to generate the machining program PM via the input device 56. In other words, the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 by an operator via the input device 56. Alternatively, the numerical control device 5 may obtain the shape data SD of the workpiece E used to generate the machining program PM from another computer. The shape data SD of the workpiece E obtained by the numerical control device 5 is stored in the memory 52.

[0083] like Figure 28As illustrated, when the workpiece E is a hollow round bar, the shape data SD of the workpiece E includes the outer diameter SD1 of the workpiece E, the inner diameter SD2 of the workpiece E, and the height SD3 of the workpiece E.

[0084] exist Figure 28 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes the calculation program PG to calculate a first volume v1 based on the shape data SD of the workpiece E. For example, if the workpiece E is a hollow round bar, the numerical control device 5 calculates the first volume v1 based on the outer diameter SD1, inner diameter SD2, and height SD3 of the workpiece E. More specifically, the numerical control device 5 calculates the first volume v1 using the formula: "first volume v1 = π × height SD3 × (outer diameter SD1 × outer diameter SD1 - inner diameter SD2 × inner diameter SD2) / 4." The calculated first volume v1 is stored in the memory 52 as workpiece volume data V1.

[0085] When the workpiece E has a shape other than a hollow round rod, the algorithm for calculating the first volume v1 is naturally different from the above-described algorithm. Any known algorithm can be used as an algorithm for calculating the volume of the workpiece E (in other words, the first volume v1) based on the shape data SD of the workpiece E.

[0086] exist Figure 4 、 Figure 28 In the description of "(Second Calculation Mode M2)", an example is described in which the processor 50 of the numerical control device 5 executes the calculation program PG, thereby allowing the numerical control device 5 to calculate the first volume v1. Alternatively, the third processor 80 of the simulation device 8 may execute the calculation program PG, thereby allowing the simulation device 8 to calculate the first volume v1. In other words, in the description of "(Second Calculation Mode M2)", the "numerical control device 5", "processor 50", "memory 52", and "input device 56" may be replaced with "simulation device 8", "third processor 80", "third memory 82", and "third input device 86", respectively.

[0087] Alternatively, if Figure 18 、 Figure 22As illustrated, the numerical control device 5 or the simulation device 8 may also execute a second calculation mode M2 for calculating a first volume v1 based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) generated by executing a machining simulation. More specifically, the numerical control device 5 or the simulation device 8 generates the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) by virtually executing the machining program PM. Furthermore, the numerical control device 5 or the simulation device 8 calculates the volume of the workpiece E (in other words, the first volume v1) based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) by executing the calculation program PG. The calculated first volume v1 is stored in the memory 52 (or the third memory 82) as workpiece volume data V1.

[0088] When the numerical control device 5 or the simulation device 8 is capable of executing the second calculation mode M2, the numerical control device 5 or the simulation device 8 can calculate the first volume v1 based on the shape data SD of the workpiece E used to generate the machining program PM or the shape data of the workpiece E generated by executing a machining simulation. Therefore, the operator is not required to input additional data simply for the purpose of calculating the first volume v1.

[0089] Further alternatively, the CAD / CAM system 9 may also execute the second calculation mode M2 for calculating the first volume v1 based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E).

[0090] exist Figure 25 In the example described, the CAD / CAM system 9 executes a drawing program 928 stored in the fourth memory 92 to create shape data for the workpiece E (more specifically, three-dimensional shape data SH1 of the workpiece E) based on data input via the fourth input device 96 or the fourth communication circuit 95. The CAD / CAM system 9 (more specifically, the fourth processor 90) executes a calculation program PG to calculate the volume of the workpiece E (in other words, the first volume v1) based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E). The calculated first volume v1 is stored in the fourth memory 92 as workpiece volume data V1.

[0091] When the simulation device 8 or the CAD / CAM system 9 calculates the first volume v1, workpiece volume data V1 representing the first volume v1 is transmitted to the numerical control device 5. Alternatively, the simulation device 8 or the CAD / CAM system 9 may derive the workpiece weight data W1 based on the workpiece volume data V1 representing the first volume v1 and the workpiece density data D1. In this case, the workpiece weight data W1 representing the first weight w1 is transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5.

[0092] When executing the first calculation mode M1 described above, the first volume v1 calculated in the second calculation mode M2 is used by at least one of the robot controller 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9. For example, the numerical control device 5 calculates the first weight w1 based on the first volume v1 calculated by executing the second calculation mode M2 and the workpiece density data D1.

[0093] (Machining program generation mode MA) The numerical control device 5 can execute a machining program creation mode MA for creating a machining program PM.

[0094] exist Figure 29 In the example described, the numerical control device 5 (more specifically, the processor 50 ) can calculate the shape data SD of the workpiece E (see Figure 28 ), data DA2 for determining the type of machining tool, data DA3 for determining the machining range, and data DA4 for determining the machining speed, and execute a machining program generation mode MA for generating a machining program PM. The machining program PM generated by the numerical control device 5 is stored in the memory 52.

[0095] The data DA2 specifying the type of machining tool includes, for example, data specifying whether the machining tool is a turning tool, a milling tool, or another tool. The data DA3 specifying the machining range includes, for example, data specifying the amount of penetration, data specifying the starting point of penetration, and data specifying the end point of penetration. The data DA4 specifying the machining speed may include data specifying the feed rate of the tool, data specifying the rotational speed of the milling tool, or data specifying the rotational speed of the workpiece E.

[0096] exist Figure 29 In the description of the machining program PM, the numerical control device 5 is used to generate the machining program PM. Alternatively, the simulation device 8 can generate the machining program PM. In other words, in the description of "(machining program generation mode MA)", the "numerical control device 5", "processor 50", and "memory 52" can be replaced with "simulation device 8", "third processor 80", and "third memory 82", respectively. The machining program PM generated by the simulation device 8 is transmitted to the numerical control device 5.

[0097] Alternatively, if Figure 30As illustrated, the CAD / CAM system 9 (more specifically, the fourth processor 90 ) may execute a machining program generation mode MA in which the CAD / CAM system 9 generates a machining program (more specifically, an EIA program PM1 ) based on the shape data SD of the workpiece E, the data DA2 specifying the type of machining tool, the data DA3 specifying the machining range, and the data DA4 specifying the machining speed. The machining program (more specifically, the EIA program PM1 ) generated by the CAD / CAM system 9 is transmitted to the numerical control device 5 .

[0098] (Third calculation mode M3) exist Figure 11 In the described example, the numerical control device 5 can execute the third calculation mode M3 for calculating the second weight w2 based on the product volume data V2 indicating the second volume v2 and the product density data D2 indicating the second density d2.

[0099] exist Figure 11 In the example described, the memory 52 stores product volume data V2 and product density data D2. In addition, the memory 52 stores a calculation program PG executed by the processor 50. Figure 11 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes the calculation program PG to calculate the second weight w2 based on the product volume data V2 and the product density data D2. More specifically, the processor 50 , executing the calculation program PG, calculates the second weight w2 by multiplying the second volume v2 by the second density d2. The calculated second weight w2 is stored in the memory 52 as product weight data W2.

[0100] exist Figure 31 In the example described, the memory 52 stores product volume data V2, association data r1 (refer to Figure 27 ), and data m2 specifying the material constituting the product P. The data m2 specifying the material constituting the product P is usually the same as the data m1 specifying the material constituting the workpiece E.

[0101] exist Figure 31 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes the calculation program PG to derive the density of the material constituting the product P (in other words, the second density d2) based on the data m2 identifying the material constituting the product P and the association data r1 associating multiple materials with their densities. The derived second density d2 is stored in the memory 52 as product density data D2. If the product density data D2 is the same as the workpiece density data D1, the step of deriving the density of the material constituting the product P (in other words, the step of deriving the second density d2) is omitted.

[0102] exist Figure 31 In the example described, the numerical control device 5 (more specifically, the processor 50 ) executes the calculation program PG to calculate the second weight w2 based on the product volume data V2 and the product density data D2. More specifically, the processor 50 , executing the calculation program PG, calculates the second weight w2 by multiplying the second volume v2 by the second density d2. The calculated second weight w2 is stored in the memory 52 as product weight data W2.

[0103] When the numerical control device 5 can execute the third calculation mode M3 for calculating the second weight w2 based on the product volume data V2 and the product density data D2, the operator is not burdened with the task of measuring the weight of the product P.

[0104] exist Figure 11 、 Figure 31 In the description of "(Third Calculation Mode M3)", an example is described in which the numerical control device 5 calculates the second weight w2 by executing the calculation program PG by the processor 50 of the numerical control device 5. Alternatively, the second processor 30 of the robot controller 3, the third processor 80 of the simulator 8, or the fourth processor 90 of the CAD / CAM system 9 may execute the calculation program PG, thereby allowing the robot controller 3, simulator 8, or CAD / CAM system 9 to calculate the second weight w2. In other words, in the description of "(Third Calculation Mode M3)", "numerical control device 5", "processor 50", and "memory 52" can be replaced with "robot controller 3", "second processor 30", and "second memory 32", respectively. Furthermore, in the description of "(Third Calculation Mode M3)", "numerical control device 5", "processor 50", and "memory 52" can be replaced with "simulator 8", "third processor 80", and "third memory 82", respectively. In addition, in the description of “(third calculation mode M3)”, “numerical control device 5”, “processor 50” and “memory 52” can be replaced by “CAD / CAM system 9”, “fourth processor 90” and “fourth memory 92” respectively.

[0105] (Fourth calculation mode M4) exist Figure 19 In the described example, the numerical control device 5 can execute the fourth calculation mode M4 for calculating the volume of the product P (in other words, the second volume v2 ) based on the machining simulation.

[0106] For example, the numerical control device 5 (more specifically, the processor 50) virtually executes the machining program PM to identify the portion of the workpiece E that contacts the cutting tool as a removal portion. Furthermore, by virtually executing the machining program PM, the numerical control device 5 (more specifically, the processor 50) generates three-dimensional shape data SH2 of the product P after the removal portion has been removed from the workpiece E. Furthermore, by executing the calculation program PG, the numerical control device 5 (more specifically, the processor 50) calculates the volume of the product P (in other words, the second volume v2) based on the three-dimensional shape data SH2 of the product P. The calculated second volume v2 is stored in the memory 52 as product volume data V2.

[0107] Alternatively, the numerical control device 5 (more specifically, the processor 50) virtually executes the machining program PM to determine the portion of the workpiece E that contacts the cutting tool as the removed portion. Furthermore, the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate the volume of this removed portion as the removed volume. Furthermore, the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to subtract the volume of this removed portion from the volume of the workpiece E (in other words, the first volume v1) to calculate the volume of the product P (in other words, the second volume v2). The calculated second volume v2 is stored in the memory 52 as product volume data V2.

[0108] exist Figure 19 In the example in which the numerical control device 5 calculates the second volume v2 based on the machining simulation, it is described. Alternatively, Figure 23 As illustrated, the simulation device 8 can also calculate the second volume v2 based on the machining simulation. In other words, in the description of "(fourth calculation mode M4)", the "numerical control device 5", "processor 50", and "memory 52" can be replaced with "simulation device 8", "third processor 80", and "third memory 82", respectively.

[0109] like Figure 23 As illustrated, the second basic data A2 including the product volume data V2 derived by the simulation device 8 (or the product weight data W2 derived based on the product volume data V2 and the product density data D2 ) is sent to the numerical control device 5 .

[0110] When the numerical control device 5 or the simulation device 8 is capable of executing the fourth calculation mode M4, the numerical control device 5 or the simulation device 8 can calculate the second volume v2 based on the machining simulation. Therefore, the operator is not required to input additional data just for the purpose of calculating the second volume v2.

[0111] Alternatively, the CAD / CAM system 9 may execute the fourth calculation mode M4 for calculating the second volume v2 based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P).

[0112] exist Figure 32 In the example described, the CAD / CAM system 9 executes a drawing program 928 stored in the fourth memory 92 to create shape data for the product P (more specifically, three-dimensional shape data SH2 of the product P) based on data input via the fourth input device 96 or the fourth communication circuit 95. Furthermore, the CAD / CAM system 9 (more specifically, the fourth processor 90) executes a calculation program PG to calculate the volume of the product P (in other words, the second volume v2) based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P). The calculated second volume v2 is stored in the fourth memory 92 as product volume data V2.

[0113] like Figure 32 As illustrated, second basic data A2 including product volume data V2 derived from the CAD / CAM system 9 (or product weight data W2 derived based on the product volume data V2 and product density data D2 ) is sent to the numerical control device 5 .

[0114] When executing the third calculation mode M3 described above, the second volume v2 calculated in the fourth calculation mode M4 is used by at least one of the robot controller 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9. For example, the numerical control device 5 calculates the second weight w2 based on the second volume v2 calculated by executing the fourth calculation mode M4 and the product density data D2 stored in the memory 52.

[0115] (Data sent from the numerical control device 5 to the robot control device 3) exist Figure 4 In the example described, the numerical control device 5 sends the workpiece weight data W1 indicating the first weight w1 to the robot control device 3. Alternatively, Figure 5 As illustrated, the numerical control device 5 may also send the first basic data A1 for calculating the first weight w1 to the robot control device 3 .

[0116] The robot control device 3 sets the workpiece weight data W1 indicating the first weight w1 as one of the control parameters Q of the robot 2 (for example, see Figure 3When the workpiece weight data W1 is reflected in the control parameter Q of the robot 2, the robot control device 3 can more accurately control the position of the workpiece E. For example, the robot control device 3 can control the movement of the arm 21 by taking into account the tilt of the arm 21 caused by the weight of the workpiece E. In addition, since the control parameter Q is more appropriately set, the robot 2 is less likely to misdetect collisions with other objects while carrying the workpiece E.

[0117] The control parameter Q can also be set as one of the collision judgment parameters for detecting the collision between the robot 2 and the obstacle. Figure 4 In the example described, the robot 2 has an acceleration sensor 25. The acceleration sensor 25 can be arranged on the arm 21 or on the gripping body 23. The robot control device 3 determines whether there is a collision between the robot 2 or the workpiece E and an obstacle (such as an operator or an object) based on the signal received from the acceleration sensor 25 and the collision judgment parameter including the control parameter Q reflecting the workpiece weight data W1. In addition, when it is determined that the robot 2 or the workpiece E has collided with the obstacle, the robot control device 3 stops the movement of the robot 2. When the workpiece weight data W1 is not reflected in the control parameter Q, it is easy to cause a false detection of a collision. For example, when the acceleration indicated by the acceleration sensor 25 changes, the robot control device 3 cannot accurately determine whether the change is caused by a collision or by the inertia of the workpiece E, etc.

[0118] exist Figure 11 In the example described, the numerical control device 5 sends the product weight data W2 indicating the second weight w2 to the robot control device 3. Alternatively, Figure 12 As exemplified in the description of , the numerical control device 5 may also transmit the second basic data A2 for calculating the second weight w2 to the robot control device 3 .

[0119] The robot control device 3 sets the product weight data W2 indicating the second weight w2 as one of the control parameters Q of the robot 2 (for example, refer to Figure 10 When the product weight data W2 is reflected in the control parameter Q of the robot 2, the robot control device 3 can more accurately perform position control of the product P. For example, the robot control device 3 can control the movement of the arm 21 by taking into account the tilt of the arm 21 caused by the weight of the product P. In addition, since the control parameter Q is more appropriately set, it is less likely to cause false detections when detecting collisions between the robot 2 and other objects while the robot 2 is removing the product P. The control parameter Q reflecting the product weight data W2 can also be set as one of the collision determination parameters for detecting collisions between the robot 2 and obstacles.

[0120] like Figure 33As shown in the example, the numerical control device 5 may also send first data DT1 that specifies the outer dimensions of the workpiece and / or second data DT2 that specifies the outer dimensions of the components of the machine tool to the robot control device 3. Additionally, the numerical control device 5 may also send third data DT3 that identifies the support device on which the workpiece E is mounted to the robot control device 3. Figure 33 In the example described, the first data DT1 includes the height h1 of the workpiece E and the gripping height h2 of the workpiece E. The second data DT2 includes the height h3 of the claws. Furthermore, the third data DT3 includes identification data hd1 for specifying the workpiece support device 62 .

[0121] The robot controller 3 sets the loading path data 326 based on, for example, the first data DT1, the second data DT2, and the third data DT3. Furthermore, the robot controller 3 controls the loading operation of the robot 2 (in other words, the operation of the robot 2 loading the workpiece E into the machine tool 6) based on the control parameter Q reflecting the workpiece weight data W1 and the loading path data 326.

[0122] like Figure 34 As shown in the example, the numerical control device 5 may also send fourth data DT4 for determining the outer dimensions of the product P and / or fifth data DT5 for determining the outer dimensions of the components of the machine tool to the robot control device 3. In addition, the numerical control device 5 may also send sixth data DT6 for identifying the support device of the disassembled product P to the robot control device 3. Figure 34 In the example described, the fourth data DT4 includes the height h4 of the product P and the gripping height h5 of the product P. The fifth data DT5 includes the height h6 of the claws. Furthermore, the sixth data DT6 includes identification data hd2 for specifying the second workpiece support device 65 .

[0123] The robot controller 3 sets the unloading path data 327 based on, for example, the fourth data DT4, the fifth data DT5, and the sixth data DT6. Furthermore, the robot controller 3 controls the unloading operation of the robot 2 (in other words, the operation of the robot 2 unloading the product P from the machine tool 6) based on the control parameter Q reflecting the product weight data W2 and the unloading path data 327.

[0124] exist Figure 35In the example described, the following steps are assumed: (1) the workpiece E carried into the machine tool 6 by the robot 2 is mounted on the workpiece support device 62; (2) a portion of the workpiece E that has been processed is transferred from the workpiece support device 62 to the second workpiece support device 65; (3) the workpiece E supported by the second workpiece support device 65 is processed into a product P; and (4) the product P supported by the second workpiece support device 65 is handed over to the robot 2. In this case, the sixth data DT6 is different from the third data DT3. On the other hand, in Figure 13 In the example described above, a procedure is assumed in which the product P supported by the workpiece support device 62 is handed over to the robot 2. In this case, the sixth data DT6 is the same as the third data DT3.

[0125] (Second embodiment) Reference Figures 1 to 37 A machine tool system 1 according to the second embodiment will be described. Figure 36 It is a diagram schematically showing a machine tool system 1 in the second embodiment. Figure 37 This is a diagram schematically showing a state in which the numerical control device 5 can control a control target device.

[0126] The second embodiment will be described primarily with respect to the differences from the first embodiment. Furthermore, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, even if not explicitly stated in the second embodiment, matters already described in the first embodiment can of course be applied to the second embodiment. Conversely, all matters described in the second embodiment can be applied to the first embodiment.

[0127] like Figure 36 As illustrated, the machine tool system 1 in the second embodiment includes a machine tool 6 and a numerical control device 5 .

[0128] exist Figure 36 In the example described, the machine tool 6 includes a machining head 61 (e.g., a turret 61T) that holds a tool T, a workpiece support 62 that supports a workpiece, and a moving device 63 that moves the machining head 61 relative to the workpiece support 62. The machine tool 6 may also include a wall 67 having an opening OP through which a workpiece and / or product can pass; a door 68 that opens and closes the opening OP; and a door moving device 69 that moves the door 68. Furthermore, the machine tool 6 may include a second workpiece support 65 that is separate from the workpiece support 62.

[0129] like Figure 35 As shown in the example, the machine tool 6 receives the workpiece E from the robot 2 controlled by the robot controller 3. Figure 37As illustrated, the machine tool 6 processes the workpiece E into a product based on the operation command C received from the numerical control device 5 .

[0130] exist Figure 4 In the example described above, the numerical control device 5 sends the workpiece weight data W1 to the robot control device 3, so that the workpiece weight data W1 indicating the first weight w1 is set as one of the control parameters Q of the robot 2. The robot control device 3 that receives the workpiece weight data W1 sets the workpiece weight data W1 as one of the control parameters Q of the robot 2 (for example, see Figure 3 ).

[0131] Alternatively, in Figure 5 In the example described, the numerical control device 5 transmits first basic data A1 for calculating a first weight w1 to the robot control device 3, which then sets the workpiece weight data W1 representing the first weight w1 as one of the control parameters Q of the robot 2. The first basic data A1 includes, for example, workpiece volume data V1. The first basic data A1 may also include workpiece volume data V1 and workpiece density data D1.

[0132] The robot control device 3 that receives the first basic data A1 derives the workpiece weight data W1 based on the first basic data A1 and sets the workpiece weight data W1 as one of the control parameters Q of the robot 2 (for example, refer to Figure 3 ).

[0133] exist Figure 33 In the example described, the numerical control device 5 transmits first data DT1 specifying the external dimensions of the workpiece, second data DT2 specifying the external dimensions of the machine tool components, and / or third data DT3 identifying the support device to which the workpiece E is mounted, to the robot control device 3. For example, the robot control device 3 sets loading path data 326 specifying the workpiece loading path based on the first data DT1, the second data DT2, the third data DT3, and the positional data of the machine tool components (e.g., the positional data of the workpiece support device 62 and the positional data of the opening OP).

[0134] like Figure 37 As illustrated, the numerical control device 5 generates motion commands C by executing the machining program PM associated with the workpiece E. The generated motion commands C are transmitted from the numerical control device 5 to the machine tool 6 , and the machine tool 6 processes the workpiece E into a product based on the motion commands C received from the numerical control device 5 .

[0135] The machine tool 6 , the numerical control device 5 , the robot 2 , and the robot controller 3 have already been described in the first embodiment, and therefore repeated descriptions thereof will be omitted.

[0136] The machine tool system 1 in the second embodiment achieves the same effects as those of the machining system 100 in the first embodiment.

[0137] like Figure 35 As illustrated, the machine tool 6 may be configured to be able to deliver the product P to the robot 2 controlled by the robot controller 3 .

[0138] exist Figure 11 In the example described above, the numerical control device 5 sends the product weight data W2 to the robot control device 3 so as to set the product weight data W2 as one of the control parameters Q of the robot 2. The robot control device 3 that receives the product weight data W2 sets the product weight data W2 as one of the control parameters Q of the robot 2 (for example, see Figure 10 ).

[0139] Alternatively, in Figure 12 In the example described, the numerical control device 5 transmits second basic data A2 for calculating the second weight w2 to the robot control device 3, thereby setting the product weight data W2 as one of the control parameters of the robot 2. The second basic data A2 includes, for example, product volume data V2. The second basic data A2 may also include product volume data V2 and product density data D2. Furthermore, the product density data D2 is typically the same as the workpiece density data D1.

[0140] The robot control device 3 receiving the second basic data A2 derives the product weight data W2 based on the second basic data A2 and sets the product weight data W2 as one of the control parameters Q of the robot 2 (for example, referring to Figure 10 ).

[0141] exist Figure 34 In the example described, the numerical control device 5 transmits fourth data DT4 specifying the external dimensions of the product P, fifth data DT5 specifying the external dimensions of the machine tool components, and / or sixth data DT6 identifying the support device of the removed product P to the robot control device 3. For example, the robot control device 3 sets the unloading path data 327 specifying the product unloading path based on the fourth data DT4, the fifth data DT5, the sixth data DT6, and the positional data of the machine tool components (e.g., the positional data of the second workpiece support device 65 and the positional data of the opening OP).

[0142] (arbitrary additional structure) Next, refer to Figures 1 to 37 An optional additional configuration that can be adopted in the machine tool system 1 of the second embodiment (or the machining system 100 of the first embodiment) will be described.

[0143] (Action instruction C) exist Figure 37In the example described, the numerical control device 5 generates a first motion command C1 by executing the machining program PM. Receiving the first motion command C1 from the numerical control device 5, the door moving device 69 moves the door 68 from a closed position (in other words, a position closing the opening OP) to an open position (in other words, a position opening the opening OP). The robot control device 3 controls the loading operation of the robot 2 based on the control parameter Q reflecting the workpiece weight data W1 and the loading path data 326, thereby transferring the workpiece E to the workpiece support device 62 through the opening OP.

[0144] exist Figure 37 In the example described, the numerical control device 5 generates the second motion command C2 by executing the machining program PM. Receiving the second motion command C2 from the numerical control device 5, the door moving device 69 moves the door 68 from the open position (in other words, the position opening OP is opened) to the closed position (in other words, the position closing the opening OP).

[0145] exist Figure 37 In the example described, the numerical control device 5 generates a third motion instruction C3 by executing the machining program PM. The workpiece support device 62, which receives the third motion instruction C3 from the numerical control device 5, rotates the support body (e.g., the claw holding the workpiece E) supporting the workpiece E around the first axis AX. In addition, the numerical control device 5 generates a fourth motion instruction C4 by executing the machining program PM. The moving device 63, which receives the fourth motion instruction C4 from the numerical control device 5, moves the machining head 61 relative to the workpiece support device 62 so that the tool T contacts the workpiece E. In this way, the workpiece E is cut by the tool T. The numerical control device 5 can also generate a fifth motion instruction C5 by executing the machining program PM. The machining head 61, which receives the fifth motion instruction C5 from the numerical control device 5, rotates the tool T2 around the center axis of the tool. In this way, the workpiece E is milled by the tool T2.

[0146] The numerical control device 5 can also generate a transfer command by executing the machining program PM. Receiving the transfer command, the machine tool 6 transfers the workpiece E from the workpiece support 62 to the second workpiece support 65. This transfer can be performed by the workpiece support 62 and the second workpiece support 65 themselves, or by a transfer device provided separately from the workpiece support 62 and the second workpiece support 65.

[0147] exist Figure 37In the example described, the numerical control device 5 generates the sixth motion command C6 by executing the machining program PM. Receiving the sixth motion command C6 from the numerical control device 5, the door moving device 69 moves the door 68 from the closed position (in other words, the position closing the opening OP) to the open position (in other words, the position opening the opening OP). The robot control device 3 controls the unloading operation of the robot 2 based on the control parameter Q reflecting the product weight data W2 and the unloading path data 327, thereby removing the product P from the machine tool 6 through the opening OP.

[0148] (Robot control device 3) exist Figure 35 In the example described, the numerical control device 5 and the robot controller 3 are communicably connected. The numerical control device 5 and the robot controller 3 may be connected by wire or wirelessly. When the numerical control device 5 and the robot controller 3 are assembled into a single unit, the numerical control device 5 and the robot controller 3 may also be communicably connected via a bus.

[0149] (Simulation device 8) exist Figure 20 In the example described, the numerical control device 5 is communicably connected to the simulation device 8. The numerical control device 5 and the simulation device 8 may be connected by wire or wirelessly.

[0150] (CAD / CAM system 9) exist Figure 24 In the example described, the numerical control device 5 is communicably connected to the CAD / CAM system 9. The numerical control device 5 and the CAD / CAM system 9 may be connected by wire or by wireless.

[0151] (Second calculation mode M2) exist Figure 28 In the example described, the numerical control device 5 can execute the second calculation mode M2 for calculating the first volume v1 (in other words, the volume of the workpiece E) based on the shape data SD of the workpiece used to generate the machining program PM. Figure 18 In the example described, the numerical control device 5 is capable of executing a second calculation mode M2 for calculating a first volume v1 (in other words, the volume of the workpiece E) based on workpiece shape data (more specifically, three-dimensional shape data SH1 of the workpiece E) generated by executing a machining simulation. The first volume v1 calculated by executing the second calculation mode M2 is stored in the memory 52 as workpiece volume data V1.

[0152] Alternatively, if Figure 22As illustrated, the simulation device 8 may execute a second calculation mode M2 for calculating the first volume v1 (in other words, the volume of the workpiece E) based on the workpiece shape data SD used to generate the machining program PM or the workpiece shape data generated by executing the machining simulation (more specifically, the three-dimensional shape data SH1 of the workpiece E). Alternatively, as Figure 25 As illustrated, the CAD / CAM system 9 may execute the second calculation mode M2 for calculating the first volume v1 (in other words, the volume of the workpiece E) based on the workpiece shape data (more specifically, the three-dimensional shape data SH1 of the workpiece E).

[0153] When the second calculation mode M2 is executed by the simulation device 8 or the CAD / CAM system 9, the numerical control device 5 is configured to receive workpiece volume data V1 or workpiece weight data W1 (more specifically, workpiece weight data W1 derived based on the workpiece volume data V1 and the workpiece density data D1) from the simulation device 8 or the CAD / CAM system 9.

[0154] The second calculation mode M2 has been described in the first embodiment, and therefore repeated description of the second calculation mode M2 will be omitted.

[0155] (First calculation mode M1) exist Figure 4 In the example described, the numerical control device 5 is capable of executing a first calculation mode M1 for calculating a first weight w1 (in other words, the weight of the workpiece E) based on the workpiece volume data V1 and the workpiece density data D1. The first weight w1 calculated by executing the first calculation mode M1 is stored in the memory 52 as workpiece weight data W1. Furthermore, the numerical control device 5 transmits this workpiece weight data W1 to the robot controller 3.

[0156] Alternatively, the simulator 8 or CAD / CAM system 9 may execute a first calculation mode M1 for calculating a first weight w1 (in other words, the weight of the workpiece E) based on the workpiece volume data V1 and the workpiece density data D1. In this case, the numerical control device 5 is configured to receive workpiece weight data W1 representing the first weight w1 from the simulator 8 or CAD / CAM system 9.

[0157] The first calculation mode M1 has been described in the first embodiment, and therefore repeated description of the first calculation mode M1 will be omitted.

[0158] exist Figure 19 In the example described, the numerical control device 5 can execute a fourth calculation mode M4 for calculating the volume (in other words, the second volume v2 ) of the product P based on a machining simulation. The second volume v2 calculated by executing the fourth calculation mode M4 is stored in the memory 52 as product volume data V2 .

[0159] Alternatively, if Figure 23 As illustrated, the simulation device 8 may also be capable of executing a fourth calculation mode M4 for calculating the volume of the product P (in other words, the second volume v2) based on the processing simulation. Figure 32 As illustrated, the CAD / CAM system 9 may be capable of executing a fourth calculation mode M4 for calculating the second volume v2 based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P).

[0160] When the fourth calculation mode M4 is executed by the simulation device 8 or the CAD / CAM system 9, the numerical control device 5 is configured to receive product volume data V2 or product weight data W2 (more specifically, product weight data W2 derived based on the product volume data V2 and the product density data D2) from the simulation device 8 or the CAD / CAM system 9.

[0161] The fourth calculation mode M4 has been described in the first embodiment, and therefore repeated description of the fourth calculation mode M4 will be omitted.

[0162] (Third calculation mode M3) exist Figure 11 In the example described, the numerical control device 5 can execute a third calculation mode M3 for calculating a second weight w2 (in other words, the weight of the product P) based on the product volume data V2 and the product density data D2. The second weight w2 calculated by executing the third calculation mode M3 is stored in the memory 52 as product weight data W2. Furthermore, the numerical control device 5 transmits this product weight data W2 to the robot controller 3. The product density data D2 is typically the same as the workpiece density data D1.

[0163] Alternatively, the simulation device 8 or the CAD / CAM system 9 may execute a third calculation mode M3 for calculating the second weight w2 (in other words, the weight of the product P) based on the product volume data V2 and the product density data D2. In this case, the numerical control device 5 is configured to receive product weight data W2 representing the second weight w2 from the simulation device 8 or the CAD / CAM system 9.

[0164] The third calculation mode M3 has been described in the first embodiment, and therefore repeated description of the third calculation mode M3 will be omitted.

[0165] (Machining program generation mode MA) exist Figure 29 In the example described above, the numerical control device 5 can execute the machining program generation mode MA for generating the machining program PM. The machining program PM generated by executing the machining program generation mode MA is stored in the memory 52 .

[0166] Alternatively, the simulation device 8 may execute the machining program generation mode MA for generating the machining program PM. Further alternatively, the CAD / CAM system 9 may execute the machining program generation mode MA for generating the machining program (more specifically, the EIA program PM1).

[0167] When a machining program is generated by the simulator 8 or the CAD / CAM system 9 , the numerical control device 5 is configured to receive the machining program from the simulator 8 or the CAD / CAM system 9 .

[0168] The machining program creation mode MA has already been described in the first embodiment, and therefore repeated description of the machining program creation mode MA will be omitted.

[0169] (Third embodiment) Reference Figures 1 to 39 A workpiece processing method in the third embodiment will be described. Figure 38 and Figure 39 This is a flowchart showing an example of a workpiece processing method in the third embodiment.

[0170] The workpiece processing method in the third embodiment can be performed using the processing system 100 in the first embodiment, or using another processing system. The processing system 100 has already been described in the first embodiment, so a repeated description of the processing system 100 will be omitted. The workpiece processing method in the third embodiment can be performed using the machine tool system 1 in the second embodiment, or using another processing system. The machine tool system 1 has already been described in the second embodiment, so a repeated description of the machine tool system 1 will be omitted.

[0171] In the first step ST1, the volume of the workpiece E is calculated. The first step ST1 is a workpiece volume calculation step. In this step, at least one of the robot controller 3, the numerical control device 5, the simulator 8, and the CAD / CAM system 9 calculates a first volume v1 (in other words, the volume of the workpiece E) based on the shape data of the workpiece E.

[0172] exist Figure 28 In the described example, the workpiece volume calculation step (first step ST1 ) includes the numerical control device 5 (or the simulation device 8 ) calculating the first volume v1 based on the shape data SD of the workpiece used to generate the machining program PM.

[0173] like Figure 28As illustrated, the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 by an operator via the input device 56. Alternatively, the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 from another computer via the communication circuit 55.

[0174] Alternatively, if Figure 18 、 Figure 22 As illustrated, the workpiece volume calculation step (first step ST1) may also include the numerical control device 5 (or the simulation device 8) calculating the first volume v1 based on the shape data of the workpiece E generated by executing a machining simulation (more specifically, the three-dimensional shape data SH1 of the workpiece E). More specifically, the workpiece volume calculation step (first step ST1) includes: (1) the numerical control device 5 (or the simulation device 8) generating the three-dimensional shape data SH1 of the workpiece E by virtually executing the machining program PM; and (2) the numerical control device 5 (or the simulation device 8) calculating the first volume v1 based on the three-dimensional shape data SH1 of the workpiece E by executing the calculation program PG.

[0175] A further alternative is to Figure 25 As illustrated, the workpiece volume calculation step (first step ST1 ) may include the CAD / CAM system 9 calculating the first volume v1 based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E).

[0176] When the numerical control device 5 calculates the first volume v1, the workpiece volume data V1 representing the first volume v1 is stored in the memory 52 of the numerical control device 5. When the robot controller 3 calculates the first volume v1, the workpiece volume data V1 representing the first volume v1 is stored in the second memory 32 of the robot controller 3. When the simulation device 8 calculates the first volume v1, the workpiece volume data V1 representing the first volume v1 is stored in the third memory 82 of the simulation device 8. When the CAD / CAM system 9 calculates the first volume v1, the workpiece volume data V1 representing the first volume v1 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0177] When the simulation device 8 or the CAD / CAM system 9 calculates the first volume v1, the simulation device 8 or the CAD / CAM system 9 may transmit workpiece volume data V1 representing the first volume v1 to the numerical control device 5. In this case, the workpiece volume data V1 is stored in the memory 52 of the numerical control device 5. Alternatively, the workpiece volume data V1 may be transmitted from the numerical control device 5 to the robot controller 3 (see third step ST3 described below). In this case, the workpiece volume data V1 is stored in the second memory 32 of the robot controller 3.

[0178] In the second step ST2, a first weight w1 (in other words, the weight of the workpiece E) is calculated. The second step ST2 is a workpiece weight calculation step. In this step, at least one of the robot controller 3, the numerical control device 5, the simulator 8, and the CAD / CAM system 9 calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0179] exist Figure 4 In the example described above, workpiece volume data V1 and workpiece density data D1 are stored in the memory 52 of the numerical control device 5. In this case, the workpiece weight calculation step (second step ST2) may also include the numerical control device 5 executing the calculation program PG to calculate the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0180] exist Figure 26 In the example described, the memory 52 of the numerical control device 5 stores workpiece volume data V1 and association data r1 (refer to Figure 27 ), and data m1 specifying the material constituting the workpiece E. In this case, the workpiece weight calculation step (second step ST2) may also include the numerical control device 5 executing the operation program PG calculating the first weight w1 based on the workpiece volume data V1, the above-mentioned related data r1, and the data m1 specifying the material constituting the workpiece E. More specifically, the workpiece weight calculation step (second step ST2) may also include: (1) the numerical control device 5 deriving the workpiece density data D1 based on the above-mentioned related data r1 and the data m1 specifying the material constituting the workpiece E; and (2) the numerical control device 5 calculating the first weight w1 based on the derived workpiece density data D1 and the workpiece volume data V1.

[0181] exist Figure 21 In the example described above, workpiece volume data V1 and workpiece density data D1 are stored in third memory 82 of simulation device 8. In this case, the workpiece weight calculation step (second step ST2) may also include simulation device 8 executing calculation program PG to calculate first weight w1 based on workpiece volume data V1 and workpiece density data D1.

[0182] exist Figure 21 In the example described, the third memory 82 of the simulation device 8 stores workpiece volume data V1 and association data r1 (refer to Figure 27 ), and data m1 specifying the material constituting the workpiece E. In this case, the workpiece weight calculation step (second step ST2) may also include the simulation device 8 executing the calculation program PG to calculate the first weight w1 based on the workpiece volume data V1, the above-mentioned correlation data r1, and the data m1 specifying the material constituting the workpiece E.

[0183] exist Figure 5 In the example described above, workpiece volume data V1 and workpiece density data D1 are stored in the second memory 32 of the robot controller 3. In this case, the workpiece weight calculation step (second step ST2) may also include the robot controller 3 executing the calculation program PG to calculate the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0184] exist Figure 25 In the example described above, workpiece volume data V1 and workpiece density data D1 are stored in fourth memory 92 of CAD / CAM system 9. In this case, the workpiece weight calculation step (second step ST2) may also include the CAD / CAM system 9 executing the calculation program PG to calculate the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0185] When the numerical control device 5 calculates the first weight w1, workpiece weight data W1 representing the first weight w1 is stored in the memory 52 of the numerical control device 5. When the robot controller 3 calculates the first weight w1, workpiece weight data W1 representing the first weight w1 is stored in the second memory 32 of the robot controller 3. When the simulation device 8 calculates the first weight w1, workpiece weight data W1 representing the first weight w1 is stored in the third memory 82 of the simulation device 8. When the CAD / CAM system 9 calculates the first weight w1, workpiece weight data W1 representing the first weight w1 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0186] If the first weight w1 is calculated by the simulator 8 or the CAD / CAM system 9, workpiece weight data W1 indicating the first weight w1 is transmitted from the simulator 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the workpiece weight data W1 is stored in the memory 52 of the numerical control device 5. If the first weight w1 is calculated by a device other than the robot controller 3, the workpiece weight data W1 is transmitted from the numerical control device 5 to the robot controller 3 (see third step ST3 described later). In this case, the workpiece weight data W1 is stored in the second memory 32 of the robot controller 3.

[0187] In the third step ST3, data is transmitted from the numerical control device 5 to the robot controller 3. The third step ST3 is a data transmission step.

[0188] The data transmission process (third step ST3 ) includes transmitting the first basic data A1 (see FIG. 1 ) for calculating the first weight w1 from the numerical control device 5 to the robot control device 3 . Figure 5 ), and workpiece weight data W1 (refer to Figure 4 ). In addition, when both the workpiece volume calculation step (first step ST1) and the workpiece weight calculation step (second step ST2) are performed by the robot control device 3, the step of transmitting at least one of the first basic data A1 and the workpiece weight data W1 from the numerical control device 5 to the robot control device 3 may be omitted.

[0189] The first basic data A1 includes, for example, workpiece volume data V1. When the first basic data A1 is transmitted from the numerical control device 5 to the robot controller 3, a data transmission step (third step ST3) is performed before the workpiece weight calculation step (second step ST2) is performed. Furthermore, in the workpiece weight calculation step (second step ST2), the robot controller 3 calculates a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0190] When the workpiece weight data W1 is transmitted from the numerical control device 5 to the robot controller 3 , the data transmission step (third step ST3 ) is executed after the workpiece weight calculation step (second step ST2 ) is executed.

[0191] like Figure 33 As illustrated, the data transmission step (third step ST3) may also include transmitting first data DT1 specifying the external dimensions of the workpiece and / or second data DT2 specifying the external dimensions of a component of the machine tool from the numerical control device 5 to the robot controller 3. Additionally, the data transmission step (third step ST3) may also include transmitting third data DT3 identifying the support device on which the workpiece E is mounted from the numerical control device 5 to the robot controller 3.

[0192] The data transmission process (third step ST3) may be executed by triggering a data request signal sent from the robot controller 3 to the numerical control device 5. Alternatively, the numerical control device 5 may execute the data transmission process (third step ST3) regardless of whether a request is received from the robot controller 3.

[0193] In the fourth step ST4, the robot control device 3 sets data for controlling the loading operation of the robot 2. The fourth step ST4 is a first setting step.

[0194] exist Figure 3 In the example described above, the first setting process (fourth step ST4) includes the robot controller 3 setting the workpiece weight data W1 as one of the control parameters Q of the robot 2. Figure 3 As illustrated, the control parameter Q may include weight data of each structure attached to the front arm 21e.

[0195] The first setting step (fourth step ST4 ) may include the robot controller 3 setting the carry-in path data 326 based on the first data DT1 , the second data DT2 , and the third data DT3 .

[0196] In step 5 ST5, a carry-in motion command is generated. Step 5 ST5 is the first command generation step. The first command generation step (step 5 ST5) includes the robot controller 3 generating a carry-in motion command based on the control parameter Q reflecting the workpiece weight data W1 and the carry-in path data 326. The first command generation step (step 5 ST5) may also include the robot controller 3 switching the state of the workpiece weight data W1, one of the control parameters Q, from an inactive state to an active state while the gripping body 23 is gripping the workpiece E (more specifically, at any time between immediately before the gripping body 23 begins gripping the workpiece E and immediately after the gripping body 23 completes gripping the workpiece E). After switching the state of the workpiece weight data W1 to the active state, the robot controller 3 generates a carry-in motion command for the robot 2 based on the control parameter Q that activates the state of the workpiece weight data W1 and the carry-in path data 326 that specifies the carry-in path for the workpiece E.

[0197] In step 6 ST6, the workpiece E is loaded into the machine tool 6. Step 6 ST6 is the loading step. The loading step (step 6 ST6) includes the robot 2 receiving the loading operation command and loading the workpiece E into the machine tool 6. The loading step (step 6 ST6) may be performed in parallel with the first command generation step (step 5 ST5). More specifically, the robot controller 3 may generate a portion of the loading operation command for the robot 2 and the robot 2 may execute a portion of the operation for loading the workpiece E into the machine tool 6 in stages, repeatedly from the start of loading the workpiece E to the completion of loading.

[0198] The loading process (sixth step ST6) may also include: (1) the door moving device 69 moves the door 68 from the closed position to the open position; (2) the robot 2 receiving the loading action instruction loads the workpiece E into the machine tool 6; and (3) after the workpiece E is loaded into the machine tool 6, the door moving device 69 moves the door 68 from the open position to the closed position.

[0199] In the seventh step ST7, an operation command C for controlling the machine tool 6 is generated (see Figure 6 The seventh step ST7 is a second command generation step. The second command generation step (the seventh step ST7 ) includes the numerical control device 5 generating an action command C by executing the machining program PM associated with the workpiece E. The second command generation step (the seventh step ST7 ) includes, for example, generating a movement action command ( C4 ) for controlling the movement device 63 .

[0200] In step 8 ST8 , the workpiece E is machined into the product P. Step 8 ST8 is a machining process. The machining process (step 8 ST8 ) includes the machine tool 6 receiving the motion command C and machining the workpiece E into the product P. For example, the machining process (step 8 ST8 ) includes the movement device 63 receiving the movement motion command ( C4 ) and moving the machining head 61 relative to the workpiece support device 62 so that the tool T contacts the workpiece E. With the tool T in contact with the workpiece E, the workpiece E is machined by the tool T.

[0201] In the workpiece processing method of the third embodiment, the workpiece weight data W1 is reflected in the control parameter Q of the robot 2. Consequently, the robot controller 3 can more accurately control the position of the workpiece E. For example, the robot controller 3 can control the movement of the arm 21 by taking into account the tilt of the arm 21 caused by the weight of the workpiece E. Furthermore, since the control parameter Q is more appropriately set, false detection of collisions between the robot 2 and other objects while loading the workpiece E is less likely to occur.

[0202] Furthermore, in the workpiece machining method of the third embodiment, the operator does not need to manually input the weight of the workpiece E into the robot controller 3. For example, the operator does not need to manually input the weight of the workpiece E into the robot controller 3 each time the type of workpiece E is changed. This reduces the operator's workload.

[0203] Additionally, the workpiece processing method in the third embodiment may include a step in which the robot 2 carries the product P out of the machine tool 6 (more specifically, the ninth step ST9 to the fourteenth step ST14 described below).

[0204] In the ninth step ST9, the volume of the product P is calculated. This ninth step ST9 is a product volume calculation step. In this step, at least one of the numerical control device 5, the simulation device 8, and the CAD / CAM system 9 calculates the second volume v2 (in other words, the volume of the product P) based on the shape data of the product P or a machining simulation.

[0205] exist Figure 19 、 Figure 23 In the described example, in the product volume calculation step (ninth step ST9 ), the numerical control device 5 (or the simulation device 8 ) calculates the second volume v2 (in other words, the volume of the product P) based on the machining simulation.

[0206] More specifically, the product volume calculation process (ninth step ST9) includes: (1) the numerical control device 5 or the simulation device 8 that virtually executes the machining program PM determines the portion of the workpiece E that is used to contact the cutting tool as a removal portion; (2) the numerical control device 5 or the simulation device 8 that virtually executes the machining program PM generates three-dimensional shape data SH2 of the product P after the removal portion is removed from the workpiece E; and (3) the numerical control device 5 or the simulation device 8 that executes the operation program PG calculates the second volume v2 (in other words, the volume of the product P) based on the three-dimensional shape data SH2 of the product P.

[0207] Alternatively, the product volume calculation process (ninth step ST9) includes: (1) the numerical control device 5 or the simulation device 8 that virtually executes the machining program PM determines a portion of the workpiece E for contact with the cutting tool as a removed portion; (2) the numerical control device 5 or the simulation device 8 that executes the operation program PG calculates the volume of the removed portion as the removed volume; and (3) the numerical control device 5 or the simulation device 8 that executes the operation program PG calculates the second volume v2 (in other words, the volume of the product P) by subtracting the volume of the removed portion from the first volume v1 (in other words, the volume of the workpiece E).

[0208] A further alternative is to Figure 32As illustrated, the product volume calculation step (ninth step ST9 ) may include the CAD / CAM system 9 calculating the second volume v2 based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P).

[0209] When the numerical control device 5 calculates the second volume v2, the product volume data V2 representing the second volume v2 is stored in the memory 52 of the numerical control device 5. When the simulation device 8 calculates the second volume v2, the product volume data V2 representing the second volume v2 is stored in the third memory 82 of the simulation device 8. When the CAD / CAM system 9 calculates the second volume v2, the product volume data V2 representing the second volume v2 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0210] When the simulation device 8 or the CAD / CAM system 9 calculates the second volume v2, the simulation device 8 or the CAD / CAM system 9 may transmit product volume data V2 representing the second volume v2 to the numerical control device 5. In this case, the product volume data V2 is stored in the memory 52 of the numerical control device 5. Alternatively, the numerical control device 5 may transmit the product volume data V2 to the robot controller 3 (see step ST11 described below). In this case, the product volume data V2 is stored in the second memory 32 of the robot controller 3.

[0211] In the tenth step ST10, a second weight w2 (in other words, the weight of the product P) is calculated. The tenth step ST10 is a product weight calculation step. In this product weight calculation step, at least one of the robot controller 3, the numerical control device 5, the simulator 8, and the CAD / CAM system 9 calculates the second weight w2 based on the product volume data V2 and the product density data D2. The product density data D2 is typically the same as the workpiece density data D1.

[0212] When the numerical control device 5 calculates the second weight w2, product weight data W2 indicating the second weight w2 is stored in the memory 52 of the numerical control device 5. When the robot control device 3 calculates the second weight w2, product weight data W2 indicating the second weight w2 is stored in the second memory 32 of the robot control device 3. When the simulation device 8 calculates the second weight w2, product weight data W2 indicating the second weight w2 is stored in the third memory 82 of the simulation device 8. When the CAD / CAM system 9 calculates the second weight w2, product weight data W2 indicating the second weight w2 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0213] If the second weight w2 is calculated by the simulator 8 or the CAD / CAM system 9, product weight data W2 indicating the second weight w2 is transmitted from the simulator 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the product weight data W2 is stored in the memory 52 of the numerical control device 5. If the second weight w2 is calculated by a device other than the robot controller 3, the product weight data W2 is transmitted from the numerical control device 5 to the robot controller 3 (see step ST11 described below). In this case, the product weight data W2 is stored in the second memory 32 of the robot controller 3.

[0214] Alternatively, the product volume calculation step (ninth step ST9) and the product weight calculation step (tenth step ST10) may be executed at a timing close to the timing of executing the workpiece volume calculation step (first step ST1) and the workpiece weight calculation step (tenth step ST10). For example, the product volume calculation step (ninth step ST9) and the product weight calculation step (tenth step ST10) may be executed before executing the data transmission step (third step ST3).

[0215] In the eleventh step ST11, data is transmitted from the numerical control device 5 to the robot controller 3. The third step ST3 is a second data transmission step.

[0216] The second data transmission step (eleventh step ST11 ) includes transmitting the second basic data A2 (see FIG. 1 ) for calculating the second weight w2 from the numerical control device 5 to the robot control device 3 . Figure 12 ), and product weight data W2 (refer to Figure 11 )

[0217] The second basic data A2 includes, for example, product volume data V2. When the second basic data A2 is transmitted from the numerical control device 5 to the robot controller 3, a second data transmission step (step 11) is executed before the product weight calculation step (step 10 ST10). Furthermore, in the product weight calculation step (step 11 ST11), the robot controller 3 calculates a second weight w2 based on the product volume data V2 and the product density data D2.

[0218] When the product weight data W2 is transmitted from the numerical control device 5 to the robot controller 3 , the second data transmission step (eleventh step ST11 ) is executed after the product weight calculation step (tenth step ST10 ) is executed.

[0219] like Figure 34As illustrated, the second data transmission step (eleventh step ST11) may also include transmitting fourth data DT4 identifying the product's external dimensions and / or fifth data DT5 identifying the external dimensions of a component of the machine tool from the numerical control device 5 to the robot controller 3. Additionally, the second data transmission step (eleventh step ST11) may also include transmitting sixth data DT6 identifying the support device of the disassembled product P from the numerical control device 5 to the robot controller 3.

[0220] The second data transmission step (eleventh step ST11) can be performed after the data transmission step (third step ST3) or at the same time as the data transmission step (third step ST3). For example, the second data transmission step (eleventh step ST11) can be included in the data transmission step (third step ST3). In this case, during the data transmission step (third step ST3), data including workpiece weight data W1, product weight data W2, first data DT1, second data DT2, third data DT3, fourth data DT4, fifth data DT5, and sixth data DT6 can be transmitted from the numerical control device 5 to the robot controller 3.

[0221] In the twelfth step ST12, the robot control device 3 sets data for controlling the carrying-out operation of the robot 2. The twelfth step ST12 is a second setting step.

[0222] exist Figure 10 In the example described, the second setting step (the twelfth step ST12) includes the robot control device 3 setting the product weight data W2 as one of the control parameters Q of the robot 2. Figure 10 As illustrated, the control parameter Q may include weight data of each structure attached to the front arm 21e.

[0223] The second setting step (twelfth step ST12 ) may include the robot controller 3 setting the carry-out path data 327 based on the fourth data DT4 , the fifth data DT5 , and the sixth data DT6 .

[0224] The second setting step (twelfth step ST12) may be performed after the first setting step (fourth step ST4) or at the same time as the first setting step (fourth step ST4). For example, in the first setting step (fourth step ST4), both the workpiece weight data W1 and the product weight data W2 may be set as one of the control parameters Q of robot 2.

[0225] In step 13 ST13, a carry-out motion instruction is generated. Step 13 ST13 is a third instruction generation process. The third instruction generation process (step 13 ST13) includes the robot control device 3 generating a carry-out motion instruction based on the control parameter Q reflecting the product weight data W2 and the carry-out path data 327. The third instruction generation process (step 13 ST13) may also include the robot control device 3 switching the state of the product weight data W2, which is one of the control parameters Q, from an inactive state to an active state when the gripping body 23 grips the product P (more specifically, at any time from just before the gripping body 23 begins gripping the product P to just after the gripping body 23 completes gripping the product P). After switching the state of the product weight data W2 to the active state, the robot control device 3 generates a carry-out motion instruction for the robot 2 based on the control parameter Q that activates the state of the product weight data W2 and the carry-out path data 327 that determines the carry-out path of the product P.

[0226] In step 14 ST14, the product P is unloaded from the machine tool 6. Step 14 ST14 is the unloading step. The unloading step (step 14 ST14) involves the robot 2 receiving the unloading operation command and unloading the product P from the machine tool 6. The unloading step (step 14 ST14) may be performed in parallel with the third command generation step (step 13 ST13). More specifically, the robot controller 3 may generate a portion of the unloading operation command for the robot 2 and the robot 2 may perform a portion of the operation to unload the product P from the machine tool 6 in stages from the start of unloading the product P to the completion of unloading the product P.

[0227] The present invention is not limited to the above-described embodiments or variations. It is apparent that the embodiments or variations may be appropriately modified or altered within the scope of the technical concept of the present invention. Furthermore, the various techniques used in the embodiments or variations may also be applied to other embodiments or variations, as long as no technical contradictions arise. Furthermore, any additional structures in the embodiments or variations may be appropriately omitted.

[0228] For example, in the embodiment, robot 2 may be a non-autonomous robot or a self-propelled robot. Furthermore, in the embodiment, there is no particular limitation on the type of machine tool 6. Machine tool 6 may be a lathe, a machining center, or a multi-tasking machine. Machine tool 6 may also include an additive manufacturing device. Description of Reference Numerals

[0229] 1 Machine tool system, 2 Robot, 3 Robot control device, 5 CNC device, 6 Machine tool, 8 Simulation device, 9 CAD / CAM system, 21 Arm, 21e Front arm, 23 Grip, 23w Weight data of grip, 24 Second grip, 24w Weight data of second grip, 25 Acceleration sensor, 30 Second processor, 32 Second memory, 35, 35a, 35b Second communication circuit, 36 Second input device, 37 Second display, 38 Second bus, 50 Hardware processor, 52 Memory, 55, 55a, 55b Communication circuit, 56 Input device, 57 Display, 58 Bus, 61 Machining head, 61T turret, 62 Workpiece support device, 63 Moving device, 65 Second workpiece support device, 67 Wall, 68 Door, 69 Door moving device, 80 Third processor, 82 Third memory, 85 Third communication circuit, 86 Third input device, 87 Third display, 90 Fourth processor, 92 Fourth memory, 95 Fourth communication circuit, 96 Fourth input device, 97 Fourth display, 100 Machining system, 230 Robot, 240 Second robot, 326 Loading path data, 327 Loading path data, 529 Machining operation program, 572 Display with touch panel, 928 Drawing program, A1 First basic data, A2 Second basic data, C Action instruction, C1 First action instruction, C2 Second action instruction, C3 Third action instruction, C4 Fourth action instruction, C5 Fifth action instruction, C6 Sixth action instruction, D1 Workpiece density data, D2 Product density data, DA2 Data for determining the type of machining tool, DA3 Data for determining the machining range, DA4 Data for determining the machining speed, DT1 First data for determining the outer dimensions of the workpiece, DT2 Second data for determining the outer dimensions of a component of the machine tool, DT3 Third data for identifying the support device, DT4 Fourth data for determining the outer dimensions of the product, DT5 Fifth data for determining the outer dimensions of the components of the machine tool, DT6 Sixth data for identifying the support device, E Workpiece, J Transport motion command, M1 First calculation mode, M2 Second calculation mode, M3 Third calculation mode, M4 Fourth calculation mode, MA Machining program generation mode, OP Opening, P Product, PG Operation program, PG2 Second operation program, PM Machining program, PM1 EIA program, Q Control parameter, SD Shape data, SD1 Workpiece outer diameter, SD2 Workpiece inner diameter, SD3 Workpiece height, SH1 Workpiece three-dimensional shape data, SH2 Product three-dimensional shape data, T Tool, T1 Cutting tool, T2 Tool, V1 Workpiece volume data, V2 Product volume data, W1 Workpiece weight data, W2 Product weight data,m1 is data that specifies the material that constitutes the workpiece, m2 is data that specifies the material that constitutes the product, and r1 is association data that associates multiple materials with their densities.

Claims

1. A processing system comprising: A robot moves the workpiece into the machine tool; a robot control device that, when the weight of the workpiece is defined as a first weight, sets workpiece weight data indicating the first weight as one of the control parameters of the robot, and controls a loading operation of the robot based on the control parameter and loading path data that determines a loading path for the workpiece; a numerical control device that sends the workpiece weight data or first basic data for calculating the first weight to the robot control device and generates an action instruction by executing a machining program; and The machine tool processes the workpiece into a product based on the motion instruction.

2. The processing system according to claim 1, wherein: The numerical control device sends the workpiece weight data to the robot control device, The robot control device sets the workpiece weight data acquired from the numerical control device as one of the control parameters.

3. The processing system according to claim 1 or 2, wherein: The robot is capable of moving the product out of the machine tool. When the weight of the product is defined as a second weight, the numerical control device sends product weight data indicating the second weight or second basic data for calculating the second weight to the robot control device. The robot control device sets the product weight data representing the second weight as one of the control parameters of the robot, and controls the robot's carrying-out action based on the control parameters including the product weight data and the carrying-out path data that determines the product's carrying-out path.

4. The processing system according to any one of claims 1 to 3, wherein: When the volume of the workpiece is defined as a first volume and the density of the material constituting the workpiece is defined as a first density, at least one of the robot control device and the CNC device is capable of executing a first calculation mode for calculating the first weight based on workpiece volume data representing the first volume and workpiece density data representing the first density.

5. The processing system according to claim 4, wherein: The numerical control device is capable of executing a second calculation mode for calculating the first volume based on shape data of the workpiece used to generate the machining program.

6. The processing system according to claim 4, wherein: The numerical control device is capable of executing a second calculation mode of calculating the first volume based on shape data of the workpiece generated by executing a machining simulation.

7. The processing system according to claim 5 or 6, wherein: The numerical control device can execute a machining program generation mode for generating the machining program based on the shape data of the workpiece, data specifying a type of machining tool, data specifying a machining range, and data specifying a machining speed.

8. The processing system according to claim 3, wherein: When the volume of the product is defined as a second volume and the density of the material constituting the product is defined as a second density, at least one of the robot control device and the numerical control device is capable of executing a third calculation mode for calculating the second weight based on product volume data representing the second volume and product density data representing the second density.

9. The processing system according to claim 8, wherein: The numerical control device is capable of performing a machining simulation for virtually machining the workpiece, The numerical control device is capable of executing a fourth calculation mode for calculating the second volume based on the machining simulation.

10. The processing system according to claim 3, wherein: The robot can carry out loading and unloading of the workpiece into and from the machine tool in parallel. The robot control device sets the workpiece weight data indicating the first weight and the product weight data indicating the second weight as one of the control parameters, respectively. When the robot supports both the workpiece and the product, the robot control device controls the operation of the robot based on the control parameters reflecting both the workpiece weight data and the product weight data, and the carry-in path data or the carry-out path data.

11. A machine tool system comprising: a machine tool that receives a workpiece from a robot controlled by a robot control device and processes the workpiece into a product based on motion instructions received from a numerical control device; and When the weight of the workpiece is defined as a first weight, the CNC device sends the workpiece weight data or the first basic data for calculating the first weight to the robot control device in order to set the workpiece weight data representing the first weight as one of the control parameters of the robot, and generates the action instruction by executing the processing program.

12. The machine tool system according to claim 11, wherein: When the volume of the workpiece is defined as a first volume and the density of the material constituting the workpiece is defined as a first density, the numerical control device can execute: a second calculation mode of calculating the first volume based on shape data of the workpiece used to generate the machining program or shape data of the workpiece generated by executing a machining simulation; as well as a first calculation mode for calculating the first weight based on workpiece volume data indicating the first volume and workpiece density data indicating the first density; The numerical control device sends the workpiece weight data to the robot control device.

13. The machine tool system according to claim 11, wherein: The numerical control device is capable of communicating with at least one of a simulation device and a CAD / CAM system, When the volume of the workpiece is defined as a first volume, the numerical control device receives the machining program and at least one of workpiece volume data and workpiece weight data indicating the first volume from at least one of the simulation device and the CAD / CAM system.

14. A workpiece processing method, comprising: a step of calculating the volume of a workpiece based on shape data of the workpiece by at least one of a robot control device, a numerical control device, a simulation device, and a CAD / CAM system; a step of calculating the weight of the workpiece based on the calculated volume of the workpiece and workpiece density data indicating the density of a material constituting the workpiece by at least one of the robot control device, the numerical control device, the simulation device, and the CAD / CAM system; a step of setting the calculated weight of the workpiece by the robot control device as one of the control parameters of the robot; The robot control device generates a loading motion instruction based on the control parameters and the loading path data; The robot receiving the carry-in action instruction carries the workpiece into the machine tool; The numerical control device generates an operation instruction by executing a machining program associated with the workpiece; and The machine tool receiving the motion instruction processes the workpiece into a product.

15. The workpiece processing method according to claim 14, further comprising: a step of calculating the volume of the product based on the shape data of the product or a machining simulation by at least one of the numerical control device, the simulation device, and the CAD / CAM system; a step of calculating the weight of the product by at least one of the robot control device, the numerical control device, the simulation device, and the CAD / CAM system based on the calculated volume of the product and product density data indicating the density of a material constituting the product; a step of setting the calculated weight of the product by the robot control device as one of the control parameters of the robot; The robot control device generates a carry-out motion instruction based on the control parameter and the carry-out path data; and A step in which the robot, having received the carry-out operation instruction, carries the product out of the machine tool.

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